Abstract
When ship is sailing in the water, force generated from waves, winds and currents will have impact on ship heading, steering frequently to hold the heading will produce much underwater noise and increase ship energy consumption. In this paper, a reference trajectory online optimization method based on MPC control is used in ship heading control, the heading is controlled in a zone with upper and lower bound instead of a constant value, when the heading is out of the zone, the reference heading is the boundary of the zone. When heading is in the zone, the reference trajectory will follow the ship heading so that the steering frequently will be less and rudder deflection will be small. This method is proposed to reduce ship noise and decrease energy consumption. A case study of ship heading control in calm water and water with disturbance is used to demonstrate effectiveness of the proposed method.
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Acknowledgment
This work was supported by the Guangdong Innovative and Entrepreneurial Research team Program under Grant 2014ZT05G304, are with the Guangdong HUST Industrial Technology Research Institute and supported by School of Automation, Huazhong University of Science & Technology, Wuhan, Hubei, China under Grant 2017B010118001.
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Wang, X., Geng, T., Chen, Z., Zhao, J. (2018). A Zone Control Method for Ship Heading Under Wave Disturbance. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_21
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DOI: https://doi.org/10.1007/978-3-319-97589-4_21
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